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Data Structures | Public Member Functions | Protected Attributes
MSCFModel Class Reference

The car-following model abstraction. More...

#include <MSCFModel.h>

Inheritance diagram for MSCFModel:
MSCFModel_IDM MSCFModel_Kerner MSCFModel_KraussOrig1 MSCFModel_PWag2009 MSCFModel_Wiedemann MSCFModel_Krauss

Data Structures

class  VehicleVariables

Public Member Functions

 MSCFModel (const MSVehicleType *vtype, SUMOReal accel, SUMOReal decel, SUMOReal headwayTime)
 Constructor.
virtual ~MSCFModel ()
 Destructor.
Methods to override by model implementation
virtual SUMOReal moveHelper (MSVehicle *const veh, SUMOReal vPos) const
 Applies interaction with stops and lane changing model influences.
virtual SUMOReal freeSpeed (const MSVehicle *const veh, SUMOReal speed, SUMOReal seen, SUMOReal maxSpeed) const
 Computes the vehicle's safe speed without a leader.
virtual SUMOReal followSpeed (const MSVehicle *const veh, SUMOReal speed, SUMOReal gap2pred, SUMOReal predSpeed, SUMOReal predMaxDecel) const =0
 Computes the vehicle's safe speed (no dawdling)
virtual SUMOReal stopSpeed (const MSVehicle *const veh, SUMOReal gap2pred) const =0
 Computes the vehicle's safe speed for approaching a non-moving obstacle (no dawdling)
virtual SUMOReal interactionGap (const MSVehicle *const veh, SUMOReal vL) const
 Returns the maximum gap at which an interaction between both vehicles occurs.
virtual void saveState (std::ostream &os)
 Saves the model's definition into the state.
virtual int getModelID () const =0
 Returns the model's ID; the XML-Tag number is used.
virtual MSCFModel * duplicate (const MSVehicleType *vtype) const =0
 Duplicates the car-following model.
virtual VehicleVariables * createVehicleVariables () const
 Returns model specific values which are stored inside a vehicle and must be used with casting.
Virtual methods with default implementation
virtual SUMOReal getMaxAccel () const
 Get the vehicle type's maximum acceleration [m/s^2].
virtual SUMOReal getMaxDecel () const
 Get the vehicle type's maximum deceleration [m/s^2].
virtual SUMOReal getImperfection () const
 Get the driver's imperfection.
virtual SUMOReal getHeadwayTime () const
 Get the driver's reaction time [s].
Currently fixed methods
void leftVehicleVsafe (const MSVehicle *const ego, const MSVehicle *const neigh, SUMOReal &vSafe) const
 Incorporates the influence of the vehicle on the left lane.
SUMOReal maxNextSpeed (SUMOReal speed) const
 Returns the maximum speed given the current speed.
SUMOReal brakeGap (SUMOReal speed) const
 Returns the distance the vehicle needs to halt including driver's reaction time.
SUMOReal getSecureGap (const SUMOReal speed, const SUMOReal leaderSpeed, const SUMOReal leaderMaxDecel) const
 Returns the minimum gap to reserve if the leader is braking at maximum.
SUMOReal getSpeedAfterMaxDecel (SUMOReal v) const
 Returns the velocity after maximum deceleration.
Setter methods
virtual void setMaxAccel (SUMOReal accel)
 Sets a new value for maximum acceleration [m/s^2].
virtual void setMaxDecel (SUMOReal decel)
 Sets a new value for maximum deceleration [m/s^2].
virtual void setImperfection (SUMOReal imperfection)
 Sets a new value for driver imperfection.
virtual void setHeadwayTime (SUMOReal headwayTime)
 Sets a new value for driver reaction time [s].

Protected Attributes

SUMOReal myAccel
 The vehicle's maximum acceleration [m/s^2].
SUMOReal myDecel
 The vehicle's maximum deceleration [m/s^2].
SUMOReal myHeadwayTime
 The driver's desired time headway (aka reaction time tau) [s].
const MSVehicleType * myType
 The type to which this model definition belongs to.

Detailed Description

The car-following model abstraction.

MSCFModel is an interface for different car following Models to implement. It provides methods to compute a vehicles velocity for a simulation step.

Definition at line 59 of file MSCFModel.h.

Constructor & Destructor Documentation

MSCFModel::MSCFModel ( const MSVehicleType *  vtype,
SUMOReal  accel,
SUMOReal  decel,
SUMOReal  headwayTime 
)

Constructor.

Parameters:
[in]rvtypea reference to the corresponding vtype

Definition at line 45 of file MSCFModel.cpp.

MSCFModel::~MSCFModel ( )
virtual

Destructor.

Definition at line 51 of file MSCFModel.cpp.

Member Function Documentation

SUMOReal MSCFModel::brakeGap ( SUMOReal  speed) const

Returns the distance the vehicle needs to halt including driver's reaction time.

Parameters:
[in]speedThe vehicle's current speed
Returns:
The distance needed to halt

Definition at line 104 of file MSCFModel.cpp.

References ACCEL2SPEED, getMaxDecel(), myHeadwayTime, SPEED2DIST, and SUMOReal.

Referenced by MSVehicle::addStop(), MSVehicle::checkRewindLinkLanes(), MSLane::getLeaderOnConsecutive(), getMaxSpeedRegardingNextLanes(), MSLaneChanger::getRealLeader(), getSecureGap(), MSLane::isInsertionSuccess(), MSVehicle::moveChecked(), MSLane::pWagGenericInsertion(), MSLane::pWagSimpleInsertion(), and MSVehicle::vsafeCriticalCont().

virtual VehicleVariables* MSCFModel::createVehicleVariables ( ) const
inlinevirtual

Returns model specific values which are stored inside a vehicle and must be used with casting.

Reimplemented in MSCFModel_IDM, MSCFModel_Wiedemann, and MSCFModel_PWag2009.

Definition at line 157 of file MSCFModel.h.

Referenced by MSVehicle::MSVehicle().

virtual MSCFModel* MSCFModel::duplicate ( const MSVehicleType *  vtype) const
pure virtual

Duplicates the car-following model.

Parameters:
[in]vtypeThe vehicle type this model belongs to (1:1)
Returns:
A duplicate of this car-following model

Implemented in MSCFModel_KraussOrig1, MSCFModel_IDM, MSCFModel_Wiedemann, MSCFModel_PWag2009, MSCFModel_Krauss, and MSCFModel_Kerner.

Referenced by MSVehicleType::build().

virtual SUMOReal MSCFModel::followSpeed ( const MSVehicle *const  veh,
SUMOReal  speed,
SUMOReal  gap2pred,
SUMOReal  predSpeed,
SUMOReal  predMaxDecel 
) const
pure virtual

Computes the vehicle's safe speed (no dawdling)

Returns the velocity of the vehicle in dependence to the vehicle's and its leader's values and the distance between them.

Parameters:
[in]vehThe vehicle (EGO)
[in]speedThe vehicle's speed
[in]gap2predThe (netto) distance to the LEADER
[in]predSpeedThe speed of LEADER
Returns:
EGO's safe speed

Implemented in MSCFModel_IDM, MSCFModel_Wiedemann, MSCFModel_KraussOrig1, MSCFModel_PWag2009, MSCFModel_Krauss, and MSCFModel_Kerner.

Referenced by MSLane::freeInsertion(), freeSpeed(), MSLCM_DK2004::informBlocker(), MSLane::isInsertionSuccess(), leftVehicleVsafe(), MSVehicle::moveRegardingCritical(), MSLane::pWagGenericInsertion(), MSVehicle::vsafeCriticalCont(), MSLCM_DK2004::wantsChangeToLeft(), and MSLCM_DK2004::wantsChangeToRight().

virtual SUMOReal MSCFModel::freeSpeed ( const MSVehicle *const  veh,
SUMOReal  speed,
SUMOReal  seen,
SUMOReal  maxSpeed 
) const
inlinevirtual

Computes the vehicle's safe speed without a leader.

Returns the velocity of the vehicle in dependence to the length of the free street and the target velocity at the end of the free range.

Parameters:
[in]vehThe vehicle (EGO)
[in]speedThe vehicle's speed
[in]seenThe look ahead distance
[in]maxSpeedThe maximum allowed speed
Returns:
EGO's safe speed

Definition at line 96 of file MSCFModel.h.

References followSpeed().

Referenced by getMaxSpeedRegardingNextLanes(), MSLane::isInsertionSuccess(), MSVehicle::moveRegardingCritical(), and MSVehicle::vsafeCriticalCont().

virtual SUMOReal MSCFModel::getHeadwayTime ( ) const
inlinevirtual

Get the driver's reaction time [s].

Returns:
The reaction time of this class' drivers in s

Definition at line 193 of file MSCFModel.h.

References myHeadwayTime.

Referenced by MSVehicle::checkRewindLinkLanes(), TraCIServerAPI_VehicleType::getVariable(), MSLane::maxSpeedGapInsertion(), MSVehicle::moveChecked(), MSLane::pWagSimpleInsertion(), and MSVehicle::vsafeCriticalCont().

virtual SUMOReal MSCFModel::getImperfection ( ) const
inlinevirtual

Get the driver's imperfection.

Returns:
The imperfection of drivers of this class

Reimplemented in MSCFModel_KraussOrig1, and MSCFModel_PWag2009.

Definition at line 185 of file MSCFModel.h.

Referenced by TraCIServerAPI_VehicleType::getVariable().

virtual SUMOReal MSCFModel::getMaxAccel ( ) const
inlinevirtual

Get the vehicle type's maximum acceleration [m/s^2].

Returns:
The maximum acceleration (in m/s^2) of vehicles of this class

Definition at line 169 of file MSCFModel.h.

References myAccel.

Referenced by TraCIServerAPI_VehicleType::getVariable(), maxNextSpeed(), MSVehicle::vsafeCriticalCont(), and MSMeanData_HBEFA::MSLaneMeanDataValues::write().

virtual SUMOReal MSCFModel::getMaxDecel ( ) const
inlinevirtual

Get the vehicle type's maximum deceleration [m/s^2].

Returns:
The maximum deceleration (in m/s^2) of vehicles of this class

Definition at line 177 of file MSCFModel.h.

References myDecel.

Referenced by brakeGap(), MSLaneChanger::change2left(), MSLaneChanger::change2right(), MSLane::freeInsertion(), TraCIServerAPI_VehicleType::getVariable(), MSLCM_DK2004::informBlocker(), MSLane::isInsertionSuccess(), leftVehicleVsafe(), MSLane::maxSpeedGapInsertion(), MSVehicle::moveChecked(), MSVehicle::moveRegardingCritical(), MSLane::pWagGenericInsertion(), MSVehicle::vsafeCriticalCont(), MSLCM_DK2004::wantsChangeToLeft(), and MSLCM_DK2004::wantsChangeToRight().

virtual int MSCFModel::getModelID ( ) const
pure virtual

Returns the model's ID; the XML-Tag number is used.

Returns:
The model's ID

Implemented in MSCFModel_IDM, MSCFModel_Wiedemann, MSCFModel_KraussOrig1, MSCFModel_PWag2009, MSCFModel_Krauss, and MSCFModel_Kerner.

Referenced by MSVehicleType::saveState().

SUMOReal MSCFModel::getSecureGap ( const SUMOReal  speed,
const SUMOReal  leaderSpeed,
const SUMOReal  leaderMaxDecel 
) const
inline

Returns the minimum gap to reserve if the leader is braking at maximum.

Parameters:
[in]speedEGO's speed
[in]leaderSpeedLEADER's speed
[in]leaderMaxDecelLEADER's max. deceleration rate

Definition at line 239 of file MSCFModel.h.

References ACCEL2SPEED, brakeGap(), MAX2(), SPEED2DIST, and SUMOReal.

Referenced by MSLaneChanger::change2left(), MSLaneChanger::change2right(), MSLane::freeInsertion(), MSLCM_DK2004::informBlocker(), and MSLane::isInsertionSuccess().

SUMOReal MSCFModel::getSpeedAfterMaxDecel ( SUMOReal  v) const
inline

Returns the velocity after maximum deceleration.

Parameters:
[in]vThe velocity
Returns:
The velocity after maximum deceleration

Definition at line 250 of file MSCFModel.h.

References ACCEL2SPEED, MAX2(), myDecel, and SUMOReal.

Referenced by MSCFModel_Krauss::followSpeed(), MSVehicle::moveRegardingCritical(), MSCFModel_Krauss::stopSpeed(), MSCFModel_Wiedemann::stopSpeed(), and MSVehicle::vsafeCriticalCont().

SUMOReal MSCFModel::interactionGap ( const MSVehicle *const  veh,
SUMOReal  vL 
) const
virtual

Returns the maximum gap at which an interaction between both vehicles occurs.

"interaction" means that the LEADER influences EGO's speed.

Parameters:
[in]vehThe EGO vehicle
[in]vLLEADER's speed
Returns:
The interaction gap
Todo:
evaluate signature

Reimplemented in MSCFModel_IDM, and MSCFModel_Wiedemann.

Definition at line 71 of file MSCFModel.cpp.

References MSVehicle::getLane(), MSLane::getMaxSpeed(), MSVehicle::getSpeed(), MAX2(), maxNextSpeed(), MIN2(), myDecel, myHeadwayTime, SPEED2DIST, and SUMOReal.

Referenced by MSAbstractLaneChangeModel::predInteraction().

void MSCFModel::leftVehicleVsafe ( const MSVehicle *const  ego,
const MSVehicle *const  neigh,
SUMOReal &  vSafe 
) const

Incorporates the influence of the vehicle on the left lane.

In Germany, vehicles on the right lane must not pass a vehicle on the lane left to the if the allowed velocity>60km/h

Parameters:
[in]egoThe ego vehicle
[in]neighThe neighbor vehicle on the left lane
[in,out]vSafeCurrent vSafe; may be adapted due to the left neighbor

Definition at line 86 of file MSCFModel.cpp.

References followSpeed(), MSVehicle::getCarFollowModel(), MSVehicleType::getLength(), getMaxDecel(), MSVehicleType::getMinGap(), MSVehicle::getPositionOnLane(), MSVehicle::getSpeed(), MSBaseVehicle::getVehicleType(), MAX2(), MIN2(), and SUMOReal.

Referenced by MSVehicle::moveRegardingCritical().

SUMOReal MSCFModel::maxNextSpeed ( SUMOReal  speed) const

Returns the maximum speed given the current speed.

The implementation of this method must take into account the time step duration.

Justification: Due to air brake or other influences, the vehicle's next maximum speed may depend on the vehicle's current speed (given).

Parameters:
[in]speedThe vehicle's current speed
Returns:
The maximum possible speed for the next step

Definition at line 98 of file MSCFModel.cpp.

References ACCEL2SPEED, getMaxAccel(), MSVehicleType::getMaxSpeed(), MIN2(), myType, and SUMOReal.

Referenced by MSCFModel_Kerner::followSpeed(), MSCFModel_Krauss::followSpeed(), MSCFModel_KraussOrig1::followSpeed(), MSLane::getFollowerOnConsecutive(), interactionGap(), MSVehicle::moveChecked(), MSCFModel_KraussOrig1::moveHelper(), moveHelper(), MSVehicle::moveRegardingCritical(), MSLCM_DK2004::patchSpeed(), MSCFModel_Kerner::stopSpeed(), MSCFModel_Krauss::stopSpeed(), MSCFModel_KraussOrig1::stopSpeed(), MSCFModel_Wiedemann::stopSpeed(), and MSVehicle::vsafeCriticalCont().

SUMOReal MSCFModel::moveHelper ( MSVehicle *const  veh,
SUMOReal  vPos 
) const
virtual

Applies interaction with stops and lane changing model influences.

Parameters:
[in]vehThe ego vehicle
[in]vPosThe possible velocity
Returns:
The velocity after applying interactions with stops and lane change model influences

Reimplemented in MSCFModel_IDM, MSCFModel_Wiedemann, MSCFModel_KraussOrig1, and MSCFModel_PWag2009.

Definition at line 55 of file MSCFModel.cpp.

References ACCEL2SPEED, MSVehicle::getLane(), MSVehicle::getLaneChangeModel(), MSLane::getMaxSpeed(), MSVehicle::getSpeed(), MAX2(), maxNextSpeed(), MIN2(), MIN3(), myDecel, MSAbstractLaneChangeModel::patchSpeed(), MSVehicle::processNextStop(), MSVehicle::setPreDawdleAcceleration(), SPEED2ACCEL, and SUMOReal.

Referenced by MSVehicle::moveChecked().

void MSCFModel::saveState ( std::ostream &  os)
virtual

Saves the model's definition into the state.

Parameters:
[in]osThe output to write the definition into

Definition at line 113 of file MSCFModel.cpp.

virtual void MSCFModel::setHeadwayTime ( SUMOReal  headwayTime)
inlinevirtual

Sets a new value for driver reaction time [s].

Parameters:
[in]headwayTimeThe new driver reaction time (in s)

Reimplemented in MSCFModel_KraussOrig1.

Definition at line 286 of file MSCFModel.h.

References myHeadwayTime.

Referenced by TraCIServerAPI_VehicleType::setVariable().

virtual void MSCFModel::setImperfection ( SUMOReal  imperfection)
inlinevirtual

Sets a new value for driver imperfection.

Parameters:
[in]accelThe new driver imperfection

Reimplemented in MSCFModel_KraussOrig1.

Definition at line 278 of file MSCFModel.h.

References UNUSED_PARAMETER.

Referenced by TraCIServerAPI_VehicleType::setVariable().

virtual void MSCFModel::setMaxAccel ( SUMOReal  accel)
inlinevirtual

Sets a new value for maximum acceleration [m/s^2].

Parameters:
[in]accelThe new acceleration in m/s^2

Definition at line 262 of file MSCFModel.h.

References myAccel.

Referenced by TraCIServerAPI_VehicleType::setVariable().

virtual void MSCFModel::setMaxDecel ( SUMOReal  decel)
inlinevirtual

Sets a new value for maximum deceleration [m/s^2].

Parameters:
[in]accelThe new deceleration in m/s^2

Reimplemented in MSCFModel_KraussOrig1.

Definition at line 270 of file MSCFModel.h.

References myDecel.

Referenced by TraCIServerAPI_VehicleType::setVariable().

virtual SUMOReal MSCFModel::stopSpeed ( const MSVehicle *const  veh,
SUMOReal  gap2pred 
) const
pure virtual

Computes the vehicle's safe speed for approaching a non-moving obstacle (no dawdling)

Returns the velocity of the vehicle when approaching a static object (such as the end of a lane) assuming no reaction time is needed.

Parameters:
[in]vehThe vehicle (EGO)
[in]gap2predThe (netto) distance to the the obstacle
Returns:
EGO's safe speed for approaching a non-moving obstacle
Todo:
generic Interface, models can call for the values they need

Implemented in MSCFModel_IDM, MSCFModel_Wiedemann, MSCFModel_KraussOrig1, MSCFModel_PWag2009, MSCFModel_Krauss, and MSCFModel_Kerner.

Referenced by MSVehicle::moveRegardingCritical(), MSLCM_DK2004::patchSpeed(), MSVehicle::processNextStop(), and MSVehicle::vsafeCriticalCont().

Field Documentation

SUMOReal MSCFModel::myAccel
protected

The vehicle's maximum acceleration [m/s^2].

Definition at line 297 of file MSCFModel.h.

Referenced by MSCFModel_Kerner::_v(), MSCFModel_Wiedemann::_v(), MSCFModel_IDM::_v(), MSCFModel_Krauss::dawdle(), MSCFModel_PWag2009::dawdle(), MSCFModel_KraussOrig1::dawdle(), MSCFModel_Kerner::duplicate(), MSCFModel_Krauss::duplicate(), MSCFModel_PWag2009::duplicate(), MSCFModel_Wiedemann::duplicate(), MSCFModel_IDM::duplicate(), MSCFModel_KraussOrig1::duplicate(), MSCFModel_Wiedemann::fullspeed(), getMaxAccel(), MSCFModel_IDM::interactionGap(), and setMaxAccel().

SUMOReal MSCFModel::myDecel
protected

The vehicle's maximum deceleration [m/s^2].

Definition at line 300 of file MSCFModel.h.

Referenced by MSCFModel_Kerner::_v(), MSCFModel_PWag2009::_v(), MSCFModel_Wiedemann::_v(), MSCFModel_Krauss::_vsafe(), MSCFModel_KraussOrig1::_vsafe(), MSCFModel_Kerner::duplicate(), MSCFModel_Krauss::duplicate(), MSCFModel_PWag2009::duplicate(), MSCFModel_Wiedemann::duplicate(), MSCFModel_IDM::duplicate(), MSCFModel_KraussOrig1::duplicate(), MSCFModel_Wiedemann::emergency(), getMaxDecel(), getSpeedAfterMaxDecel(), MSCFModel_IDM::interactionGap(), interactionGap(), MSCFModel_Wiedemann::krauss_vsafe(), MSCFModel_KraussOrig1::moveHelper(), moveHelper(), MSCFModel_KraussOrig1::setHeadwayTime(), MSCFModel_KraussOrig1::setMaxDecel(), and setMaxDecel().

SUMOReal MSCFModel::myHeadwayTime
protected

The driver's desired time headway (aka reaction time tau) [s].

Definition at line 303 of file MSCFModel.h.

Referenced by MSCFModel_IDM::_v(), brakeGap(), MSCFModel_Kerner::duplicate(), MSCFModel_Krauss::duplicate(), MSCFModel_PWag2009::duplicate(), MSCFModel_IDM::duplicate(), MSCFModel_KraussOrig1::duplicate(), getHeadwayTime(), interactionGap(), MSCFModel_Wiedemann::krauss_vsafe(), MSCFModel_PWag2009::moveHelper(), MSCFModel_KraussOrig1::setHeadwayTime(), setHeadwayTime(), and MSCFModel_KraussOrig1::setMaxDecel().

const MSVehicleType* MSCFModel::myType
protected

The type to which this model definition belongs to.

Definition at line 294 of file MSCFModel.h.

Referenced by MSCFModel_Wiedemann::_v(), MSCFModel_IDM::_v(), MSCFModel_IDM::desiredSpeed(), and maxNextSpeed().

The documentation for this class was generated from the following files: